mirror of https://github.com/ArduPilot/ardupilot
133 lines
3.7 KiB
Plaintext
133 lines
3.7 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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//
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// Simple test for the GCS_MAVLink routing
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//
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#include <stdarg.h>
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#include <AP_Common.h>
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#include <AP_Progmem.h>
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#include <AP_HAL.h>
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#include <AP_HAL_AVR.h>
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#include <AP_HAL_AVR_SITL.h>
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#include <AP_HAL_Linux.h>
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#include <AP_HAL_FLYMAPLE.h>
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#include <AP_HAL_PX4.h>
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#include <AP_HAL_Empty.h>
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#include <AP_Math.h>
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#include <AP_Param.h>
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#include <StorageManager.h>
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#include <AP_ADC.h>
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#include <AP_InertialSensor.h>
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#include <AP_Notify.h>
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#include <AP_GPS.h>
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#include <AP_Baro.h>
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#include <Filter.h>
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#include <DataFlash.h>
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#include <GCS_MAVLink.h>
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#include <GCS.h>
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#include <AP_Mission.h>
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#include <StorageManager.h>
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#include <AP_Terrain.h>
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#include <AP_AHRS.h>
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#include <AP_Airspeed.h>
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#include <AP_Vehicle.h>
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#include <AP_ADC_AnalogSource.h>
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#include <AP_Compass.h>
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#include <AP_Declination.h>
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#include <AP_NavEKF.h>
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#include <AP_HAL_Linux.h>
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#include <AP_Rally.h>
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#include <AP_Scheduler.h>
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#include <AP_BattMonitor.h>
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#include <SITL.h>
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const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
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static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
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static GCS_MAVLINK gcs[MAVLINK_COMM_NUM_BUFFERS];
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extern mavlink_system_t mavlink_system;
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const AP_Param::GroupInfo GCS_MAVLINK::var_info[] PROGMEM = {
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AP_GROUPEND
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};
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static MAVLink_routing routing;
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void setup(void)
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{
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hal.console->println("routing test startup...");
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gcs[0].init(hal.uartA, MAVLINK_COMM_0);
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}
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void loop(void)
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{
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uint16_t err_count = 0;
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// incoming heartbeat
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mavlink_message_t msg;
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mavlink_heartbeat_t heartbeat = {0};
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mavlink_msg_heartbeat_encode(3, 1, &msg, &heartbeat);
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if (!routing.check_and_forward(MAVLINK_COMM_0, &msg)) {
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hal.console->printf("heartbeat should be processed locally\n");
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err_count++;
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}
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// incoming non-targetted message
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mavlink_attitude_t attitude = {0};
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mavlink_msg_attitude_encode(3, 1, &msg, &attitude);
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if (!routing.check_and_forward(MAVLINK_COMM_0, &msg)) {
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hal.console->printf("attitude should be processed locally\n");
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err_count++;
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}
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// incoming targetted message for someone else
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mavlink_param_set_t param_set = {0};
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param_set.target_system = mavlink_system.sysid+1;
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param_set.target_component = mavlink_system.compid;
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mavlink_msg_param_set_encode(3, 1, &msg, ¶m_set);
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if (routing.check_and_forward(MAVLINK_COMM_0, &msg)) {
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hal.console->printf("param set 1 should not be processed locally\n");
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err_count++;
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}
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// incoming targetted message for us
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param_set.target_system = mavlink_system.sysid;
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param_set.target_component = mavlink_system.compid;
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mavlink_msg_param_set_encode(3, 1, &msg, ¶m_set);
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if (!routing.check_and_forward(MAVLINK_COMM_0, &msg)) {
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hal.console->printf("param set 2 should be processed locally\n");
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err_count++;
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}
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// incoming targetted message for our system, but other compid
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// should be processed locally
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param_set.target_system = mavlink_system.sysid;
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param_set.target_component = mavlink_system.compid+1;
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mavlink_msg_param_set_encode(3, 1, &msg, ¶m_set);
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if (!routing.check_and_forward(MAVLINK_COMM_0, &msg)) {
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hal.console->printf("param set 3 should be processed locally\n");
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err_count++;
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}
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// incoming broadcast message should be processed locally
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param_set.target_system = 0;
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param_set.target_component = mavlink_system.compid+1;
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mavlink_msg_param_set_encode(3, 1, &msg, ¶m_set);
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if (!routing.check_and_forward(MAVLINK_COMM_0, &msg)) {
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hal.console->printf("param set 4 should be processed locally\n");
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err_count++;
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}
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if (err_count == 0) {
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hal.console->printf("All OK\n");
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}
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hal.scheduler->delay(1000);
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}
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AP_HAL_MAIN();
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